CN109541631A - A kind of big visual field face battle array detection radar based on the light flight time - Google Patents
A kind of big visual field face battle array detection radar based on the light flight time Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The big visual field face gust detection radar that the invention discloses a kind of based on the light flight time, including lighting module, sensing module and control module；The control module is connect with lighting module and sensing module respectively: lighting module launches outward light according to default angle of radiation；Sensing module receives reflected light signal according to default detection angle；Reflected light signal is input to control module by sensing module；Control module is used to control the driving of lighting module and sensing module, and processing reflected light signal.The present invention irradiates different spaces range with radiating light source, radiation of light source angle mutually makes up, realize Uniform Illumination, by being connected using more light flight time sensing chips, more depth sensing chips perceive scene simultaneously, perception velocities are apparently higher than scanning type laser radar, avoid mechanical scanning type detector to the sensitivity of vibration and the waste of sweep time；Solve the limitation of Method for Single Sensor System shot detection angle and the limitation of multi-line laser radar speed of detection.
Description
Technical field
The present invention relates to face battle array detection radar technical field, especially a kind of depth sensings based on multiple smooth flight time
The big visual field face battle array detection radar that chip is constituted.
Background technique
In recent years, laser radar is increasingly used in atmospheric wind monitoring, 3D vision imaging, Imaging Guidance and mesh
The fields such as mark tracking.Laser radar is because have high-precision, high-resolution advantage, after the appearance of unmanned technology, more
It is to directly drive a collection of company to carry out various laser radar research and development and production.However current generally existing laser radar skill
Art landing is with high costs, and feedback frame per second is lower, causes certain applications all also in laboratory stage.Due to the speed of service and locating
Scene is different from outdoor pilotless automobile, and indoor mobile robot usually requires the laser of higher frame per second and nearlyr detection range
Radar.Because of the cost reason of multi-line laser radar, current most of indoor mobile robots are used for using single line laser radar
Positioning, navigation, avoidance etc., but due to natural defect, single line laser radar can not construct complete depth scene.
Light time-of-flight method (TOF) depth camera is by measurement light from being issued to the time for being reflected back camera by object
Come measure object to camera spacing.TOF camera carries out Depth Imaging using most direct measurement means, with the smallest calculating money
Source obtains preferable depth information, the building of depth scene is realized with higher frame per second, but TOF depth camera is because visual field limits
Interfering with each other between system and polyphaser can not substitute laser radar.TOF depth camera is according to its basic principle and laser radar
Equally, pulse TOF (P_TOF) and continuous wave modulation TOF (CVM_TOF) can also be divided into.P_TOF emits light pulse (generally not
Visible light) to being observed on object, it then receives from the reflected light pulse of object, it is (past by the flight of detecting optical pulses
Return) time calculates testee with a distance from camera；CVM_TOF issues the continuous light of a branch of modulation first, by measuring light
It returns and the phase difference of transmission carries out, it is counter to push away light flight time and carry out ranging.
The limitation of TOF depth camera visual field and polyphaser interference are solved for indoor mobile robot, either landing cost
Or response speed is all of great significance.
Summary of the invention
The big visual field face gust detection radar that the purpose of the present invention is to propose to a kind of based on the light flight time；The present invention passes through benefit
Connected with multiple smooth flight time sensing chips, and the layout between reasonable arrangement sensor, realize angle is bigger, resolution ratio more
High space exploration and measurement.
The purpose of the present invention is achieved through the following technical solutions:
Big visual field face battle array detection radar provided by the invention based on the light flight time, including illumination mould interconnected
Block, sensing module and control module, the control module are used to control lighting module and sensing module by clock sync signal
Work, and acquisition transmission data；
The lighting module launches outward modulation light according to default angle of radiation；The sensing module is according to default detection
Reflection modulation light signal of the angular acceptance from object；Reflection modulation light signal is input to control mould by the sensing module
Block；The control module is for handling reflection modulation light signal.
Further, the sensing module includes several sensing chips, chip mounting surface and sensor drive module；The core
Piece mounting surface includes several chip stationary planes, and the chip stationary plane is built into chip installation according to default detection angle respectively
Face, the sensing chip are respectively arranged on chip stationary plane, and the sensing chip is connect with sensor drive module, the biography
The data of sensing chip are uniformly sent to control module by sensor drive module.
Further, the lighting module includes several light emitting sources, light source mounting surface and illumination drive module；The light source peace
Dress face includes several light source stationary planes, and the light source stationary plane is built into light source mounting surface, institute according to default angle of radiation respectively
It states light emitting source to be respectively placed on light source stationary plane, the light emitting source is driven by illumination drive module, and the illumination drives mould
The driving clock signal of block is generated by sensing module, and the illumination drive module acquires the temperature data of lighting module simultaneously.
Further, the driving clock signal of the illumination drive module is generated by the default sensing chip in sensing module.
Further, the control module carries out calculation processing, specific steps to the collected data of sensing module are as follows:
(1) control module acquires the phase data of every sensing chip, stores respectively；
(2) control module calculates the phase diagram of every sensing chip, and according to the modulation and demodulation frequency meter of actual use
Calculate respective depth map；
(3) original depth map is corrected by control module according to the respective calibration result of every sensing chip；
(4) control module goes to the depth map of every sensing chip according to the respective camera lens internal reference of every sensing chip
The chip coordinate system of respective sensing chip；
(5) control module is according to the outer ginseng between every sensing chip, by each pixel of every sensing chip
Depth value is gone to by chip coordinate system under the world coordinate system of camera；
(6) control module exports the depth data under fused world coordinate system.
Further, the control module includes sensing control unit, lighting control unit, clock unit, data acquisition list
Member, data buffer storage unit, Data Computation Unit and data transmission unit；
When the sensing control unit is used to configure the modulation and demodulation of the electrifying timing sequence of every sensing chip driving, chip
The operating mode of clock, chip, and generate the trigger signal of data acquisition；
Power supply timing, brightness of illumination and the temperature for acquiring lighting module of the lighting control unit control lighting module；
The clock unit provides clock signal；
The data acquisition unit acquisition is originated from the temperature number of the phase data of sensing chip, temperature data and lighting module
According to；
The data buffer storage unit is used to cache the data of acquisition and the intermediate variable data of calculating；
The Data Computation Unit calculates the data in caching；
Data that the data transmission unit sends that treated.
Further, a camera lens is provided on every sensing chip, the lateral perception angle of each camera lens is pressed
It is selected according to predetermined angle.
Further, the sensing chip is light flight time sensing chip, and the sensing chip is provided with identical work
Mode；Every sensing chip is in response to identical modulation and reconciliation tunable clock signal.
Further, the illumination drive module and the light source mounting surface are set to jointly on same metal block, described
The temperature sensor of lighting module is used to obtain the temperature data of light emitting source and driving circuit, and illumination temperature data is transferred to
In control module.
Further, the sensing module is provided with temperature sensing unit, and the temperature sensor is for obtaining the sensing
The temperature data of chip, the control module calculate depth according to the phase diagram that the temperature data and sensing chip of chip obtain
Data.
By adopting the above-described technical solution, the present invention has the advantage that:
The present invention passes through to be connected using multiple smooth flight time sensing chips, and the layout between reasonable arrangement sensor,
By the matched lighting system of fit angle, realize bigger angle, the higher space exploration of resolution ratio and measurement, this detection and
Measurement method solves the limitation of Method for Single Sensor System shot detection angle and the limitation of multi-line laser radar speed of detection,
It is that a kind of speed of detection is fast, angle is big, detection method at low cost.
1, different spaces range is irradiated with radiating light source, radiation of light source angle mutually makes up, and realizes Uniform Illumination, avoids
Mechanical scanning type detector is to the sensitivity of vibration and the waste of sweep time；
2, it is identical to meet frequency for each chip demodulation clock of sensing module and the driving clock of lighting module, and phase difference is permanent
Fixed, there is no interfering with each other between multiple light courcess；
3, radiation of light source angle and the cooperation of sensing chip detection angle, utmostly improve light utilization efficiency；
4, multiple depth sensing chips perceive scene simultaneously, and perception velocities are apparently higher than scanning type laser radar.
Other advantages, target and feature of the invention will be illustrated in the following description to a certain extent, and
And to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, Huo Zheke
To be instructed from the practice of the present invention.Target of the invention and other advantages can be realized by following specification and
It obtains.
Detailed description of the invention
Detailed description of the invention of the invention is as follows.
The position Fig. 1 connection schematic diagram between module of the invention.
Fig. 2 is the multiple sensing chip schematic layout patterns of sensing module of the invention.
Fig. 3 is the multiple radiating light source schematic layout patterns of lighting module of the invention.
Fig. 4 is that signal of the invention transmits schematic diagram.
Fig. 5 is single sensing chip operation schematic diagram of the invention.
Fig. 6 is that sensing chip phase diagram of the invention acquires schematic diagram.
Fig. 7 is data acquisition and processing (DAP) flow chart of the invention.
Specific embodiment
For a better understanding, the present invention is further explained in greater detail with reference to the accompanying drawings in the following description.
Embodiment 1
Big visual field face battle array detection radar provided in this embodiment based on the light flight time is a kind of based on TOF depth sensing
The face battle array radar of chip, is that multiple TOF depth sensing chip portfolios are carried out space three-dimensional imaging.Every sensing chip perception
The depth information of different spatial dimensions, different spatial dimensions exports after rear end is merged, radar group provided in this embodiment
It include lighting module, sensing module and control module interconnected at module, interconnection described in the present embodiment includes control
Molding block is connect with lighting module and sensing module respectively, and the lighting module is connected with sensing module；Module control is carried out, when
Clock is synchronous and data are transmitted；The control module is connect with lighting module and sensing module respectively, and the control module is for leading to
The work of oversampling clock synchronization signal drive lighting module and sensing module, and transmission acquisition data；The lighting module according to
Default angle of radiation launches outward modulation light；The sensing module receives the reflection from object according to default detection angle
Modulate all or part of signal of light；The sensing module is by the reflection modulation light signal (reflection modulation of the present embodiment
Light signal refers to sensing chip by light signal collection and the electric signal that is converted to) it is input to control module；The control module
For controlling the driving of lighting module and sensing module, and processing reflection modulation light signal.
The lighting module includes several light emitting sources, light source mounting surface and illumination drive module；Several light emitting sources by
Unified illumination drive module driving, the light source irradiate different spaces range, and radiation of light source angle mutually makes up, and realizes radiation
Angle is larger, and uniformity of radiation preferably illuminates, and lighting source angle of radiation is matched with sensing chip detection angle；The light source
Mounting surface includes several light source stationary planes, and the light source stationary plane is built into light source mounting surface according to default angle of radiation respectively,
The light emitting source is respectively placed on light source stationary plane；The light emitting source is driven by illumination drive module, the illumination driving
The driving clock signal of module is generated by a certain sensing chip of sensing module, and furthermore the illumination drive module is also used to acquire
The temperature of lighting module.
The sensing module includes several sensing chips, chip mounting surface and sensor drive module；The sensing chip
For light flight time sensing chip, every sensing chip detects the whole or one of the illumination optical signal of different lighting environment reflections
Part；The chip mounting surface includes several chip stationary planes, and the chip stationary plane is constructed according to default detection angle respectively
At chip mounting surface, the sensing chip is respectively arranged on chip stationary plane, the sensing chip and sensor drive module
The data of sensing chip are uniformly sent to control module by connection, the sensor drive module.
The control module is for cooperating and acquiring and handling the data from sensing module between control module；
The control module is acquired to the collected data of sensing module and the specific steps of calculation processing are as follows:
(1) control module acquires the phase data of each sensing chip, and is assigned to spatial cache independent；
(2) control module calculates the phase value of every sensing chip, and according to the modulation and demodulation frequency meter of actual use
Calculate respective depth value；
(3) original depth value is corrected by control module according to the respective calibration result of every sensing chip；
(4) control module is according to the respective camera lens internal reference of every sensing chip, by the depth of each pixel of every lamination
Value changes into the three-dimensional coordinate of respective camera space；
(5) control module is according to the outer ginseng between every sensing chip, by the depth of each pixel of every lamination
Value is gone under unified world coordinate system；
(6) control module exports data under fused unified world coordinate system.
The control module includes sensing control unit, lighting control unit, clock unit, data acquisition unit, data
Cache unit, Data Computation Unit, data transmission unit,
The sensing control unit mainly configures the modulation and demodulation of the electrifying timing sequence, chip of the sensing driving of every chips
Clock, the operating mode of chip, data trigger collection；
The lighting control unit mainly controls illuminalive power-supply timing, brightness of illumination and the temperature for acquiring lighting module；
The clock unit mainly provides stable clock to main control chip, calculates for numerical value and modulation /demodulation controls；
The data acquisition unit mainly acquires phase data, the temperature of temperature data and lighting module from sensing chip
Degree evidence；
The data and calculating intermediate variable data buffer storage to the outside of main control chip of the data buffer storage unit chief commander acquisition
Or internal memory space；
The Data Computation Unit mainly calculates the data in caching；
The depth data calculated is mainly issued external transmission module or secondary calculating mould by the data transmission unit
Block.
A camera lens is provided on every sensing chip, the lateral perception imaging angle of each camera lens is according to pre-
If angle is selected.
The sensing chip is light flight time sensing chip, and the sensing chip is provided with identical operating mode；Institute
Every sensing chip is stated in response to identical clock signal.
The light emitting source preferentially selects light emitting semiconductor device.The illumination drive module and the light emitting source dispose jointly
In on same metal block, temperature sensing is carried out by lighting module temperature sensor.The depth sensing chip is furnished with temperature sense
Know that unit, the temperature data that the depth data that sensing chip is sent out can be sent out according to temperature sensing unit carry out temperature-compensating；If
Depth sensing chip is configured without temperature sensing unit, can external temp sensing chip as depth sensing chip near.
The depth sensing chip is powered by unified power supply system, is controlled by unified drive module, is protected
It is synchronous to demonstrate,prove received data.The phase data is that demodulation clock is related to the modulation light signal of the reflection from object by force
Degree.
The original depth value correction includes temperature-compensating, environment Xanthophyll cycle, depth correction, Multipath reflection elimination.
The control module and the secondary computing module are a kind of modules of achievable data calculation processing, can be FPGA,
It can make single-chip microcontroller, calculator or server.Modulation of the modulation /demodulation clock signal of the chip in response to control module
Clock generates.
Embodiment 2
In the following description, state multiple specific details to provide a thorough understanding of embodiments.However, related fields
Technical staff should be understood that technology described in the present embodiment can be practiced without one or more specific details, or use it
Its method, component, material etc..
Big visual field face battle array acquisition radar system provided in this embodiment based on the light flight time, which includes three big moulds
Block: lighting module, sensing module and control module.As shown in Figure 1, three modules are connected with each other, control module is for when passing through
Clock synchronization signal controls the work of lighting module and sensing module, and acquisition, processing and transmission data；The modulation of lighting module
Signal source of clock preset sensing chip from sensing module.
As shown in Fig. 2, sensing module is made of three depth sensing chips in figure, single depth sensing chip field angle θ,
Each spinning θ of two chips for the spatial perception module for being combined into a complete low coincidence, in addition to middle detector chip；
Every sensing chip pixel array is 160 × 60 in the present embodiment, and every sensing chip matches a 2.8mmf1.2
Camera lens, laterally perceive imaging angle reach 80 ° (such as 40 degree or 60 degree of other angles can also be selected), longitudinally perceive angle
30°；Three sensors, every sensing chip detect a part of the illumination light of different lighting environment reflections, common 30 ° of detection
× 240 ° of spatial dimension.Three sensing chips are powered driving by the same power supply system.Three sensing cores lean against one piece
Al alloy block guarantees that the temperature of three chips is close as far as possible.
Such as Fig. 3, lighting module is made of 8 light emitting sources, and the launch angle of each light emitting source is 30 ° (x-axis) * 30 ° of (y
Axis).Angle of radiation is staggered 30 ° between 8 light emitting sources.Integral radiation angle reaches 240 ° and sensing chip detection angle phase
Match.4 one group of series connection of these light emitting sources, two groups of parallel connections again, carry out illumination driving, the present embodiment by the same illumination drive module
The lighting module of offer is set to the top of sensing module mounting surface, and the ambient enviroment for detecting to sensing module emits illumination
Light, naturally it is also possible to which lighting module is set to the lower section or other suitable places of whole device according to actual needs.
Such as Fig. 4, control module (being equivalent to the master control borad or subsequent main control module in figure) mainly carries out modules
Configuration to cooperate between drive module, and acquires and handles the data from sensing module.Control module described in this system
With field programmable gate array (FPGA) for main control chip, USB3.0 control chip and DDR2 chip are carried.Control module
Phaselocked loop (PLL) generates actually required modulating frequency to every chips inside middle FPGA, believes for modulation and demodulation waveform
Number.In addition, the configuration of the electrifying timing sequence and device of sensing module and lighting module is also to be completed by control module.Control module will
Every sensing chip of sensing module is configured to identical operating mode.The modulating clock of lighting module is in response to sensing module
A wherein chips.
Such as Fig. 5, depth sensing chip used in the present embodiment is a kind of CVM_TOF chip, and the part that dotted line outlines is
Chip interior mac function.Every chips combine respective clock crystal oscillator and the modulating clock from main control module to produce by phaselocked loop
Raw driving clock.On the one hand driving clock is used to trigger the modulation of external light source luminescent waveform, on the one hand pass pixel unit back and be used for
Demodulate the waveform signal that each pixel receives.
In the present embodiment, the response modulating clock of three sensors is all generated by master control borad, is generated according to external crystal-controlled oscillation
Modulation and demodulation clock actually required guarantees that three sensor frequency, demodulation frequencies are consistent with the modulating frequency of illuminatian plate, phase difference
It is invariable, it is ensured that the stability and reliability of Phase-Resolved Analysis.Illumination drive signal is generated by sensor 3.
Such as Fig. 6, the used depth sensing chip phase acquisition schematic diagram of the present embodiment.The infrared signal that light source issues is sent out
It is mapped on target object, sensor receives the infrared signal being reflected back.In order to measure between transmitting and reflection infrared signal
Phase offset, the present embodiment depth transducer have multiple control signal, they are alternately opened and closed.Assuming that is emitted is infrared
Signal is square wave, and control signal acquisition infrared signal is transformed under the premise of the quantity of electric charge, is calculated by the relationship between them
Phase pushing figure out.Phase offset between Four-phase control signal is 90 degree.When signal is in high state, they are by infrared light
Signal is converted to the quantity of electric charge.With this four quantities of electric charge according to formula:
Depth is calculated, wherein c is the light velocity, and the present embodiment is because be in air, to select c=3 × 108M/s, f are
The frequency of modulation and demodulation, P0, P1, P2, P3 respectively correspond the quantity of electric charge that the light under out of phase offset is converted to.
Depth sensing chip used in the present embodiment is a kind of locking phase ccd sensor part.Every sensing chip is in difference
The light signal strength received under phase are as follows:
Pi=AIReflection·SDemodulation
Wherein, Pi(i=1,2,3,4) is the phase diagram under out of phase offset, and A is signal amplification factor, IReflectionIt is chip
The optical signal received, SDemodulationIt is chip interior demodulated signal.In the present embodiment,
SDemodulation=Ssin (ω ' t), ω are modulation of source frequency, AReflectionFor the reflection modulation light signal strength that chip receives, AEnvironmentCore
The ambient light signal intensity that piece receives,For the reflection modulation optical signal phase that chip receives, ω ' is frequency, demodulation frequency, and S is
Demodulated signal intensity.Phase in value characterization light flight course is sluggish, i.e., related to the light flight time.In order to obtain with time t
Unrelated stable phase diagram Pi, the modulating frequency of light source and the frequency, demodulation frequency of signal must assure that unanimously.It is passed in the present embodiment
The modulating clock of every sensing chip is generated in response to the same clock in sense module, and every sensor modulating clock meets frequency
It is identical, constant phase difference.
The sensed values of sensing chip and the real time temperature of chip are related, it is necessary to temperature-compensating function are established, to offset
The variation of temperature rise process bring phase value guarantees at different temperatures in face of same colourless wall under same position and pose
Phase value will not change, subsequent all phase diagrams for calibration all advanced trip temperatures compensation, according at that time temperature and
Temperature difference when calibration is added and subtracted a certain numerical value and is sent out again, reality output depth D0=original depth D0-k (T-T0), wherein k is
The slope that phase value varies with temperature, T are that temperature, T0 are temperature when demarcating at once.
Such as Fig. 7, data acquisition and processing (DAP) flow chart provided in this embodiment, in real space detection, one kind being based on light
The big visual field face battle array detection radar of flight time, control module is acquired to the collected data of sensing module and calculation processing
Specific steps are as follows:
(1) control module acquires the phase data of each sensing chip, and it is empty to be assigned to DDR caching independent
Between；
(2) control module FPGA takes out collected 4 amplitude phase diagram from caching, and calculates every according to modulating frequency
The depth value D0 of sensing chip；
(3) control module carries out depth correction and lens correction according to the respective calibration result of every sensing chip, obtains
Depth value D1 after correction；
(4) control module is converted to spatial position to depth map C1D1, C2D1, C3D1 after the correction of every chips and melts
It closes, is exported after being weighted and averaged to the space that perception is overlapped according to the intensity value of each point；
(5) finally, control module exports fused data D2 to host computer through USB3.0 control chip.
Lens correction mainly carries out original image to obtain the depth map under ideal image after two dimension goes distortion to handle, deep
Degree correction course is mapping process, the depth map that will be calculated, the depth map and actual distance established according to calibration process
Mapping relations, mapping obtain true depth map.According to ideal image process,
Wherein u, v are respectively the transverse and longitudinal coordinate of pixel, and s is scaling shadow, fx、fyIt is camera lens along pixel column and column direction
Focal length, cx、cyFor the translational movement of picture centre and camera lens optical axis, r11、r12、r13、r14、r21、r22、r23、r24、r31、r32、r33、
r34For Camera extrinsic, X, Y, Z are the world coordinates of testee, and the depth map that three sensing chips obtain can be switched to same
Under world coordinate system.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of the technical program, should all be covered in the present invention
Protection scope in.
Claims (10)
1. a kind of big visual field face battle array detection radar based on the light flight time, it is characterised in that: including illumination mould interconnected
Block, sensing module and control module, the control module are used to control lighting module and sensing module by clock sync signal
Work, and acquisition transmission data；
The lighting module launches outward modulation light according to default angle of radiation；The sensing module is according to default detection angle
Receive the reflection modulation light signal from object；Reflection modulation light signal is input to control module by the sensing module；
The control module is for handling reflection modulation light signal.
2. the big visual field face battle array detection radar based on the light flight time as described in claim 1, it is characterised in that: the sensing
Module includes several sensing chips, chip mounting surface and sensor drive module；The chip mounting surface includes that several chips are solid
Determine face, the chip stationary plane is built into chip mounting surface according to default detection angle respectively, and the sensing chip is respectively set
In on chip stationary plane, the sensing chip is connect with sensor drive module, and the sensor drive module is by sensing chip
Data be uniformly sent to control module.
3. the big visual field face battle array detection radar based on the light flight time as described in claim 1, it is characterised in that: the illumination
Module includes several light emitting sources, light source mounting surface and illumination drive module；The light source mounting surface includes several light source stationary planes,
The light source stationary plane is built into light source mounting surface according to default angle of radiation respectively, and the light emitting source is respectively placed in light source and fixes
On face, the light emitting source is driven by illumination drive module, and the driving clock signal of the illumination drive module is by sensing mould
Block generates, and the illumination drive module acquires the temperature data of lighting module simultaneously.
4. the big visual field face battle array detection radar based on the light flight time as claimed in claim 2, it is characterised in that: the illumination
The driving clock signal of drive module is generated by the default sensing chip in sensing module.
5. the big visual field face battle array detection radar based on the light flight time as described in claim 1, it is characterised in that: the control
Module carries out calculation processing, specific steps to the collected data of sensing module are as follows:
(1) control module acquires the phase data of every sensing chip, stores respectively；
(2) control module calculates the phase diagram of every sensing chip, and is calculated respectively according to the modulation and demodulation frequency of actual use
From depth map；
(3) original depth map is corrected by control module according to the respective calibration result of every sensing chip；
(4) control module goes to the depth map of every sensing chip respectively according to the respective camera lens internal reference of every sensing chip
The chip coordinate system of sensing chip；
(5) control module is according to the outer ginseng between every sensing chip, by the depth of each pixel of every sensing chip
Value is gone to by chip coordinate system under the world coordinate system of camera；
(6) control module exports the depth data under fused world coordinate system.
6. the big visual field face battle array detection radar based on the light flight time as described in claim 1, it is characterised in that: the control
Module includes sensing control unit, lighting control unit, clock unit, data acquisition unit, data buffer storage unit, data calculating
Unit and data transmission unit；
The sensing control unit be used for configure every sensing chip driving electrifying timing sequence, chip modulation and demodulation clock,
The operating mode of chip, and generate the trigger signal of data acquisition；
Power supply timing, brightness of illumination and the temperature for acquiring lighting module of the lighting control unit control lighting module；
The clock unit provides clock signal；
The data acquisition unit acquisition is originated from the temperature data of the phase data of sensing chip, temperature data and lighting module；
The data buffer storage unit is used to cache the data of acquisition and the intermediate variable data of calculating；
The Data Computation Unit calculates the data in caching；
Data that the data transmission unit sends that treated.
7. the big visual field face battle array detection radar based on the light flight time as claimed in claim 2, it is characterised in that: every described
A camera lens is provided on sensing chip, the lateral perception angle of each camera lens is selected according to predetermined angle.
8. the big visual field face battle array detection radar based on the light flight time as claimed in claim 2, it is characterised in that: the sensing
Chip is light flight time sensing chip, and the sensing chip is provided with identical operating mode；Every sensing chip is rung
It should be in identical modulation and reconciliation tunable clock signal.
9. the big visual field face battle array detection radar based on the light flight time as claimed in claim 3, it is characterised in that: the illumination
Drive module and the light source mounting surface are set to jointly on same metal block, and the temperature sensor of the lighting module is used for
The temperature data of light emitting source and driving circuit is obtained, and illumination temperature data is transferred in control module.
10. the big visual field face battle array detection radar based on the light flight time as claimed in claim 2, it is characterised in that: the biography
Sense module is provided with temperature sensing unit, and the temperature sensor is used to obtain the temperature data of the sensing chip, the control
Molding root tuber calculates depth data according to the phase diagram that the temperature data and sensing chip of chip obtain.
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